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Specify camera parameters using standard robotics conventions.

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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
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Alessio Quaglino
2023-09-28 05:18:36 -07:00
committed by Copybara-Service
parent ca60de79c8
commit 36d2ffe4f2
28 changed files with 528 additions and 40 deletions
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doc/overview.rst
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@@ -515,8 +515,10 @@ Camera
Multiple cameras can be defined in a model. There is always a default camera which the user can freely move with the
mouse in the interactive visualizer. However it is often convenient to define additional cameras that are either
fixed to the world, or are attached to one of the bodies and move with it. In addition to the camera position and
orientation, the user can adjust the field of view and the inter-pupilary distance for stereoscopic rendering, as
well as create oblique projections needed for stereoscopic virtual environments.
orientation, the user can adjust the vertical field of view and the inter-pupilary distance for stereoscopic rendering,
as well as create oblique projections needed for stereoscopic virtual environments. When modeling real cameras with
imperfect optics, it is possible to specify separate focal lengths for the horizontal and vertical directions and a
non-centered principal point.
Light
^^^^^